Question: 4 . 1 1 [ 2 4 ] A 2 - DOF positioning table is used to orient parts for arc - welding. The for

4.11[24] A 2-DOF positioning table is used to orient parts for arc-welding. The for-
ward kinematics that locate the bed of the table (link 2) with respect to the base
(link 0) are
?20T=[c1c2-c1s2s1l2s1+l1s2c200-s1c2s1s2c1l2c1+h10001]
Please help me solve this question.
4 . 1 1 [ 2 4 ] A 2 - DOF positioning table is

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